I did some more tweaking on my machine this morning.
I upgraded to KMotion V4.33 and Mach3V 3.043.066
From what I have gathered experimentally and reading on some other forums it seems the jerk value does have an affect when running Mach3 but only for moves such as continuous jogging. The part I was having trouble understanding with is dues to my assumption that since the jerk setting effects Mach3 when continuous jogging, it seemed natural to assume that the velocity and acceleration settings should as well, this is not the case. I did not gather this from any of the documentation but maybe its because I can be a bit dense at times.
I read somewhere on a forum someone said that when Mach3 is in CV mode that it can increase the acceleration limits by 100%. I still need to verify with artsoft so don't take my word for it as fact. If this is the case it explains what I have been seeing. That is I set the acceleration limits based on what felt right when jogging. For most GCode moves the acceleration seemed to adhere to the acceleration limit I set. However, when running a lot of short polylines with CV on the acceleration seemed very noticeably higher. So to get around this I bumped my acceleration down to 2in/s^2. Alarmingly slow but its running my part with no problems so far....
It is really unfortunate that Mach3 has infinite jerk. KMotionCNC runs so much better than Mach3 when you tune down the jerk! The problem is I can't use my jogging pendant and probe with KMotionCNC. Is there any way to get Mach3 to adhere to the Kflop jerk setting? I'm guessing this is all on the Mach3 side.
The only issue I have remaining is that KMotionCNC is still not working 100%. I tuned the vel, accel, and jerk values by the seat of my pants and it all works good jogging. I can get 300ipm rapids jogging without issue. However when I go to run my GCode below the drives fault out halfway through my first rapid from a starting position of (0,0,0).
Code:
%
OWater_Jacket_Core_Box_Bottom_
G54 G90 G17 G40 G80
G00 G49
G20
( Finishing drive )
G54
T1 M6
( TOOL : 1/2" K600 Ball )
S3056 M3
G00 X-18.224 Y0.7405 Z0.2625 G43 H1
Z-1.9475
M8
G01 Z-2. F22.9 G64
Y0.7605 Z-1.9847 F45.8
Y0.7732 Z-1.973
Y0.7858 Z-1.9596
Y0.7985 Z-1.944
Y0.8239 Z-1.9097
Y0.8745 Z-1.8381
Y0.9252 Z-1.7668
Y0.9759 Z-1.6953
Y1.0266 Z-1.6238
Y1.0773 Z-1.5543
Y1.128 Z-1.4861
Y1.1787 Z-1.4195
Y1.2294 Z-1.3523
Y1.2801 Z-1.2855
Y1.3054 Z-1.2563
Y1.3181 Z-1.2429
Y1.3308 Z-1.2309
Y1.3561 Z-1.2102
Y1.3814 Z-1.1936
X-18.2249 Y1.3952 Z-1.1886
X-18.225 Y1.3962 Z-1.1884
X-18.2249 Y1.3994 Z-1.1867
X-18.2245 Y1.4072 Z-1.1823
X-18.2243 Y1.413 Z-1.1795
Y1.4203 Z-1.1769
X-18.2246 Y1.4275 Z-1.1747
X-18.225 Y1.4331 Z-1.1736
X-18.2242 Y1.4442 Z-1.1685
X-18.2239 Y1.452 Z-1.1657
X-18.2241 Y1.4978 Z-1.1555
Y1.5 Z-1.1552
X-18.2245 Y1.5165 Z-1.1536
Y1.5173 Z-1.1534
X-18.224 Y1.5383 Z-1.1497
Y1.5409 Z-1.1494
Y1.6293 Z-1.1413
Y1.7178 Z-1.132
Y1.762 Z-1.1259
Y1.8062 Z-1.1174
Y1.8505 Z-1.1061
X-18.224 Y1.8947 Z-1.0924
Y1.9831 Z-1.063
Y2.0273 Z-1.0508
Y2.0716 Z-1.0414
X-18.2241 Y2.1158 Z-1.0349
Y2.16 Z-1.0308
Y2.2484 Z-1.0274
Y2.2497
X-18.2245 Y2.28 Z-1.0277
Y2.2803
X-18.2241 Y2.3871 Z-1.0284
Y2.3875
Y2.4614 Z-1.03
Y2.5353 Z-1.0318
Y2.6092 Z-1.0341
Y2.6831 Z-1.0365
Y2.757 Z-1.0402
Y2.8309 Z-1.0448
Y2.9048 Z-1.0507
Y2.9417 Z-1.0544
Y2.9787 Z-1.0588
Y2.9801 Z-1.0591
X-18.2244 Y3.0005 Z-1.0626
Y3.0011 Z-1.0626
X-18.224 Y3.0277 Z-1.0664
Y3.0297 Z-1.0667
X-18.2241 Y3.0915 Z-1.0794
X-18.2242 Y3.1533 Z-1.0944
X-18.2243 Y3.2151 Z-1.1107
X-18.2244 Y3.2769 Z-1.1272
Y3.277
X-18.2242 Y3.3117 Z-1.1363
X-18.2239 Y3.3466 Z-1.1472
Y3.3475 Z-1.1475
X-18.224 Y3.3981 Z-1.1671
Y3.4005 Z-1.1681
X-18.2245 Y3.4165 Z-1.1759
Y3.4174 Z-1.1763
X-18.224 Y3.4344 Z-1.1831
Y3.4378 Z-1.1846
X-18.2242 Y3.4756 Z-1.2046
X-18.2244 Y3.5136 Z-1.2269
X-18.2243 Y3.5973 Z-1.2779
X-18.2242 Y3.681 Z-1.3302
X-18.224 Y3.7648 Z-1.3808
X-18.2239 Y3.8486 Z-1.4286
Y3.9085 Z-1.4615
G03 G19 Y4.1482 Z-1.5798 J1.918 K3.586
G03 Y4.3476 Z-1.6683 J5.321 K11.716
G01 Y4.4478 Z-1.7113
G02 Y5.0471 Z-1.9879 J-4.136 K-9.748
G01 Y5.0719 Z-2.
X-18.2202 Y5.086 Z-1.9995 F22.9
X-18.2162 Y5.1001 Z-1.9991
X-18.212 Y5.114 Z-1.9988
X-18.2078 Y5.128 Z-1.9989
X-18.2033 Y5.1419 Z-1.9988
X-18.1987 Y5.1557 Z-1.9991
X-18.1938 Y5.1695 Z-1.9993
X-18.1889 Y5.1832 Z-2.
G03 Y4.8052 Z-1.8163 J-9.13 K-18.305 F45.8
G03 Y4.4464 Z-1.657 J-4.954 K-10.675
G02 Y4.0877 Z-1.4969 J3.857 K9.126
G02 Y3.8485 Z-1.3721 J1.681 K3.51
G01 X-18.189 Y3.7648 Z-1.3233
X-18.1891 Y3.681 Z-1.272
X-18.1893 Y3.5973 Z-1.2195
Y3.5554 Z-1.1939
X-18.1894 Y3.5135 Z-1.1696
Y3.5134 Z-1.1695
X-18.1892 Y3.4758 Z-1.1489
X-18.1889 Y3.438 Z-1.1304
X-18.189 Y3.4334 Z-1.1284
X-18.1894 Y3.4165 Z-1.1216
Y3.4156 Z-1.1212
X-18.1891 Y3.4014 Z-1.115
Y3.3982 Z-1.1137
X-18.1889 Y3.3475 Z-1.0957
Y3.3464 Z-1.0953
X-18.1892 Y3.3116 Z-1.0851
X-18.1894 Y3.2766 Z-1.0757
X-18.1893 Y3.215 Z-1.0594
X-18.1892 Y3.1533 Z-1.0434
X-18.1891 Y3.0915 Z-1.0288
X-18.1889 Y3.0298 Z-1.0166
Y3.0271 Z-1.0162
X-18.1894 Y3.0005 Z-1.0124
Y2.9999 Z-1.0123
X-18.1892 Y2.9806 Z-1.0092
Y2.9787 Z-1.0089
Y2.9048 Z-1.001
Y2.8309 Z-0.9952
Y2.757 Z-0.9907
Y2.6831 Z-0.9871
Y2.6092 Z-0.9845
Y2.5353 Z-0.9823
Y2.4614 Z-0.9804
Y2.387 Z-0.9789
X-18.1895 Y2.2802 Z-0.9781
Y2.2799
X-18.1891 Y2.2501 Z-0.9779
Y2.2485
Y2.2042 Z-0.979
Y2.16 Z-0.9812
X-18.1891 Y2.1158 Z-0.9851
Y2.0716 Z-0.9912
Y2.0273 Z-0.9999
Y1.9831 Z-1.0114
Y1.9389 Z-1.0253
X-18.189 Y1.8947 Z-1.0402
Y1.8505 Z-1.0545
Y1.8284 Z-1.0609
Y1.8062 Z-1.0666
Y1.762 Z-1.0757
Y1.7178 Z-1.0822
X-18.189 Y1.6736 Z-1.0873
Y1.6294 Z-1.0917
Y1.5409 Z-1.0998
Y1.5375 Z-1.1002
X-18.1895 Y1.5165 Z-1.1033
Y1.5156 Z-1.1034
X-18.1891 Y1.5009 Z-1.1051
Y1.4979 Z-1.1055
X-18.189 Y1.475 Z-1.1095
X-18.1889 Y1.4521 Z-1.1146
X-18.1893 Y1.4417 Z-1.1177
X-18.1897 Y1.4356 Z-1.1199
X-18.1899 Y1.4331 Z-1.1208
X-18.1897 Y1.43 Z-1.1215
X-18.1893 Y1.4204 Z-1.1241
Y1.4132 Z-1.1265
X-18.1895 Y1.4053 Z-1.1296
X-18.1899 Y1.3975 Z-1.133
X-18.189 Y1.3814 Z-1.1386
Y1.3561 Z-1.1514
Y1.3308 Z-1.1676
Y1.3054 Z-1.1873
Y1.2801 Z-1.2113
Y1.2547 Z-1.2389
Y1.2294 Z-1.2699
Y1.1787 Z-1.3375
Y1.128 Z-1.4044
Y1.0773 Z-1.4711
Y1.0266 Z-1.5394
Y0.9759 Z-1.6097
Y0.9252 Z-1.6813
Y0.8745 Z-1.7526
Y0.8239 Z-1.8242
Y0.7732 Z-1.8951
Y0.7605 Z-1.9123
G02 Y0.7225 Z-1.9519 J-0.16 K0.115
G01 Y0.7098 Z-1.9611
Y0.6971 Z-1.9692
Y0.6718 Z-1.9831
Y0.6464 Z-1.9951
Y0.6351 Z-2.
X-18.1803 Y0.6115 Z-1.9997 F22.9
X-18.1717 Y0.5878
X-18.1628 Y0.5643 Z-1.9999
X-18.154 Y0.5407 Z-2.
Y0.5415 Z-1.9997 F45.8
Y0.5438 Z-1.999
Y0.5526 Z-1.9963
Y0.5702 Z-1.9904
Y0.5704 Z-1.9904
Y0.5958 Z-1.9813
Y0.6211 Z-1.9714
Y0.6464 Z-1.96
Y0.6591 Z-1.9538
G03 Y0.7098 Z-1.921 J-0.107 K0.22
G01 Y0.7161 Z-1.9151
Y0.7225 Z-1.9085
Y0.7288 Z-1.9011
Y0.7352 Z-1.8929
Y0.7478 Z-1.8757
Y0.7732 Z-1.8401
Y0.8239 Z-1.769
Y0.8745 Z-1.6977
Y0.9252 Z-1.626
Y0.9759 Z-1.555
Y1.0266 Z-1.4858
Y1.0773 Z-1.4183
Y1.128 Z-1.3517
Y1.1787 Z-1.2843
Y1.204 Z-1.2506
Y1.2294 Z-1.2194
Y1.2547 Z-1.1916
Y1.2801 Z-1.1672
Y1.2927 Z-1.1565
Y1.3054 Z-1.1466
Y1.3308 Z-1.1295
Y1.3498 Z-1.1186
Y1.3561 Z-1.1153
Y1.3814 Z-1.1038
X-18.1548 Y1.3984 Z-1.098
X-18.1546 Y1.4034 Z-1.096
X-18.1543 Y1.4133 Z-1.0924
Y1.4205 Z-1.0901
X-18.1548 Y1.4325 Z-1.087
X-18.1548 Y1.4331 Z-1.0869
X-18.1546 Y1.4356 Z-1.0861
X-18.1544 Y1.4392 Z-1.0849
X-18.1539 Y1.4522 Z-1.0813
X-18.154 Y1.4751 Z-1.0765
X-18.1541 Y1.498 Z-1.0726
Y1.5017 Z-1.0721
X-18.1545 Y1.5165 Z-1.0703
Y1.5173 Z-1.0702
X-18.154 Y1.5366 Z-1.0675
Y1.5409 Z-1.067
Y1.6294 Z-1.0588
Y1.6736 Z-1.0544
Y1.7178 Z-1.0492
Y1.762 Z-1.0426
Y1.7841 Z-1.0383
Y1.8062 Z-1.0332
Y1.8284 Z-1.0272
Y1.8505 Z-1.0206
Y1.8947 Z-1.0061
X-18.154 Y1.9389 Z-0.9913
Y1.9831 Z-0.9777
Y2.0274 Z-0.9665
Y2.0716 Z-0.9582
Y2.1158 Z-0.9522
Y2.16 Z-0.9484
X-18.1541 Y2.2042 Z-0.9463
Y2.2485 Z-0.9453
Y2.2506
X-18.1545 Y2.2803 Z-0.9455
Y2.2806
X-18.1541 Y2.3869 Z-0.9463
Y2.3875
Y2.4614 Z-0.9478
Y2.5353 Z-0.9497
Y2.6092 Z-0.952
Y2.6831 Z-0.9545
Y2.757 Z-0.9581
Y2.8309 Z-0.9627
Y2.9048 Z-0.9684
Y2.9417 Z-0.972
Y2.9787 Z-0.9764
Y2.9811 Z-0.9767
X-18.1544 Y3.0004 Z-0.9796
Y3.001 Z-0.9797
X-18.154 Y3.0265 Z-0.9835
Y3.0298 Z-0.984
X-18.1541 Y3.0916 Z-0.996
X-18.1542 Y3.1533 Z-1.0104
X-18.1543 Y3.215 Z-1.0262
X-18.1544 Y3.2768 Z-1.0426
X-18.1542 Y3.3114 Z-1.0518
X-18.1539 Y3.3462 Z-1.0618
Y3.3476 Z-1.0623
Y3.3729 Z-1.0706
X-18.154 Y3.3793 Z-1.0728
Y3.3812 Z-1.0735
Y3.3816 Z-1.0736
Y3.3824 Z-1.0739
Y3.3983 Z-1.0797
X-18.1541 Y3.4022 Z-1.0812
X-18.1544 Y3.4164 Z-1.087
Y3.4173 Z-1.0874
X-18.154 Y3.4325 Z-1.0933
X-18.1539 Y3.4382 Z-1.0957
X-18.1542 Y3.4759 Z-1.1133
X-18.1544 Y3.5136 Z-1.133
Y3.5137 Z-1.1331
X-18.1543 Y3.5555 Z-1.1568
Y3.5973 Z-1.1821
X-18.1541 Y3.6811 Z-1.2344
X-18.154 Y3.7648 Z-1.2862
X-18.1539 Y3.8485 Z-1.3354
G03 Y4.2064 Z-1.517 J2.018 K3.532
G01 Y4.3254 Z-1.5697
G03 Y4.5644 Z-1.6732 J8.961 K20.376
G02 Y5.0416 Z-1.8947 J-4.025 K-9.296
G01 Y5.2551 Z-2.
X-18.1454 Y5.2676 Z-1.9994 F22.9
X-18.1368 Y5.2802 Z-1.9993
X-18.1279 Y5.2925 Z-1.9994
X-18.1189 Y5.3048 Z-2.
G03 Y4.8603 Z-1.7828 J-14.542 K-29.186 F45.8
G03 Y4.4437 Z-1.5971 J-5.05 K-10.771
G02 Y4.1461 Z-1.4649 J3.588 K8.48
G02 Y3.8485 Z-1.3099 J1.615 K3.465
G01 X-18.119 Y3.7648 Z-1.2603
X-18.1191 Y3.6811 Z-1.2081
X-18.1193 Y3.5974 Z-1.1555
Y3.5555 Z-1.1301
X-18.1194 Y3.5137 Z-1.1063
Y3.5136 Z-1.1062
X-18.1192 Y3.476 Z-1.0864
X-18.1189 Y3.4383 Z-1.0684
X-18.119 Y3.4316 Z-1.0656
X-18.1194 Y3.4164 Z-1.0594
Y3.4155 Z-1.059
X-18.1191 Y3.4031 Z-1.0537
X-18.119 Y3.3983 Z-1.0518
X-18.119 Y3.373 Z-1.0425
Y3.3477 Z-1.0339
Y3.346 Z-1.0334
X-18.1192 Y3.3113 Z-1.0231
X-18.1194 Y3.2766 Z-1.0137
Y3.2765
X-18.1193 Y3.2149 Z-0.9974
X-18.1192 Y3.1533 Z-0.9815
X-18.1191 Y3.0916 Z-0.9669
X-18.1189 Y3.0299 Z-0.9547
Y3.0259 Z-0.954
X-18.1194 Y3.0004 Z-0.9501
Y2.9998 Z-0.95
X-18.1192 Y2.9816 Z-0.9472
Y2.9787 Z-0.9468
Y2.9417 Z-0.9423
Y2.9048 Z-0.9387
Y2.8309 Z-0.9329
Y2.757 Z-0.9283
Y2.6831 Z-0.9246
Y2.6092 Z-0.9221
Y2.5353 Z-0.9197
Y2.4614 Z-0.9178
Y2.3875 Z-0.9163
Y2.3867
X-18.1195 Y2.2805 Z-0.9153
Y2.2802
X-18.1191 Y2.251 Z-0.9151
Y2.2485
Y2.2043 Z-0.9161
Y2.16 Z-0.9181
X-18.1191 Y2.1158 Z-0.9217
Y2.0716 Z-0.9277
Y2.0274 Z-0.936
Y1.9831 Z-0.9471
Y1.9389 Z-0.9606
Y1.8947 Z-0.9754
X-18.119 Y1.8505 Z-0.9899
Y1.8063 Z-1.0025
Y1.7841 Z-1.0077
Y1.762 Z-1.012
Y1.7178 Z-1.0186
Y1.6736 Z-1.0239
X-18.119 Y1.6294 Z-1.0283
Y1.5409 Z-1.0365
Y1.5358 Z-1.0371
X-18.1195 Y1.5165 Z-1.0398
Y1.5156 Z-1.0399
X-18.1191 Y1.5026 Z-1.0416
X-18.1191 Y1.4981 Z-1.0422
X-18.119 Y1.4752 Z-1.046
X-18.1189 Y1.4523 Z-1.0509
X-18.1195 Y1.4368 Z-1.0553
X-18.1196 Y1.4353 Z-1.0558
X-18.1197 Y1.4331 Z-1.0566
X-18.1193 Y1.4207 Z-1.0599
Y1.4134 Z-1.0622
X-18.1196 Y1.4016 Z-1.0665
Y1.4014 Z-1.0665
X-18.1197 Y1.3991 Z-1.0675
X-18.119 Y1.3814 Z-1.0738
Y1.3561 Z-1.0854
Y1.3308 Z-1.0997
Y1.3054 Z-1.1167
Y1.2927 Z-1.1265
Y1.2801 Z-1.1368
Y1.2547 Z-1.16
Y1.2294 Z-1.1862
Y1.204 Z-1.2153
Y1.1787 Z-1.2476
Y1.128 Z-1.3152
Y1.0773 Z-1.382
Y1.0266 Z-1.4489
Y0.9759 Z-1.5175
Y0.9252 Z-1.588
Y0.8745 Z-1.6595
Y0.8239 Z-1.731
Y0.7732 Z-1.8022
Y0.7225 Z-1.8731
Y0.7098 Z-1.8896
G02 Y0.6591 Z-1.929 J-0.126 K0.109
G01 Y0.6464 Z-1.9356
Y0.6338 Z-1.9417
Y0.6211 Z-1.9475
Y0.5958 Z-1.9578
Y0.5704 Z-1.9671
Y0.5702 Z-1.9672
Y0.5349 Z-1.9788
X-18.119 Y0.4996 Z-1.9894
Y0.4644 Z-1.9991
Y0.4607 Z-2.
X-18.1104 Y0.4444 Z-1.9997 F22.9
X-18.1017 Y0.4281
X-18.0929 Y0.4118 Z-1.9998
X-18.0842 Y0.3956 Z-2.
Y0.3961 Z-1.9999 F45.8
Y0.4027 Z-1.9984
Y0.4115 Z-1.9963
Y0.4291 Z-1.992
X-18.0841 Y0.4644 Z-1.9831
Y0.4996 Z-1.9733
X-18.084 Y0.5349 Z-1.9627
Y0.5701 Z-1.9508
Y0.5704 Z-1.9507
Y0.5958 Z-1.9412
Y0.6211 Z-1.9307
Y0.6338 Z-1.9247
Y0.6464 Z-1.9182
Y0.6591 Z-1.9113
Y0.6704 Z-1.9046
G03 Y0.6908 Z-1.8883 J-0.081 K0.122
G01 Y0.7008 Z-1.8772
Y0.7098 Z-1.8652
Y0.7225 Z-1.8476
Y0.7732 Z-1.7765
Y0.8239 Z-1.7053
Y0.8746 Z-1.6338
Y0.8872 Z-1.6159
Y0.8928 Z-1.608
Y0.8999 Z-1.598
Y0.9252 Z-1.5623
Y0.9759 Z-1.492
Y1.0266 Z-1.4235
Y1.0773 Z-1.3562
Y1.128 Z-1.2887
Y1.1787 Z-1.2202
Y1.204 Z-1.1877
Y1.2294 Z-1.158
Y1.2357 Z-1.1512
Y1.2389 Z-1.1478
Y1.2405 Z-1.1461
G02 Y1.2801 Z-1.1075 J0.355 K-0.325
G01 Y1.3054 Z-1.0872
Y1.3308 Z-1.0699
Y1.3561 Z-1.0555
Y1.3814 Z-1.0437
X-18.0847 Y1.3995 Z-1.0371
Y1.3997 Z-1.037
Y1.4008 Z-1.0366
X-18.0843 Y1.4135 Z-1.0319
Y1.4208 Z-1.0296
X-18.0847 Y1.4328 Z-1.0262
X-18.0846 Y1.4343 Z-1.0258
X-18.0839 Y1.4524 Z-1.0205
X-18.084 Y1.4753 Z-1.0156
X-18.0841 Y1.4982 Z-1.0117
X-18.0841 Y1.5034 Z-1.011
X-18.0845 Y1.5165 Z-1.0093
I can see the commanded feed is about 200ipm when it faults and the current is about the same. I can jog at 300ipm all day long. Here is the .c file below. I tried with both 32 + 0x80; and 64 + 0x80; pulse length.
Code:
#include "KMotionDef.h"
// Defines axis 0, 1, 2 as simple step dir TTL outputs for KSTEP
// enables them
// sets them as an xyz coordinate system for GCode
int main()
{
double T0, LastX=0, LastY=0, LastZ=0, Tau;
FPGA(STEP_PULSE_LENGTH_ADD) = 63 + 0x80; // set polarity and pulse length to ?us
ch0->InputMode=NO_INPUT_MODE;
ch0->OutputMode=STEP_DIR_MODE;
ch0->Vel=6000;
ch0->Accel=27;
ch0->Jerk=100000;
ch0->P=0;
ch0->I=0.01;
ch0->D=0;
ch0->FFAccel=0;
ch0->FFVel=0;
ch0->MaxI=200;
ch0->MaxErr=1e+006;
ch0->MaxOutput=200;
ch0->DeadBandGain=1;
ch0->DeadBandRange=0;
ch0->InputChan0=0;
ch0->InputChan1=0;
ch0->OutputChan0=8;
ch0->OutputChan1=0;
ch0->MasterAxis=-1;
ch0->LimitSwitchOptions=0x100;
ch0->LimitSwitchNegBit=0;
ch0->LimitSwitchPosBit=0;
ch0->SoftLimitPos=1e+009;
ch0->SoftLimitNeg=-1e+009;
ch0->InputGain0=1;
ch0->InputGain1=1;
ch0->InputOffset0=0;
ch0->InputOffset1=0;
ch0->OutputGain=-1;
ch0->OutputOffset=0;
ch0->SlaveGain=1;
ch0->BacklashMode=BACKLASH_OFF;
ch0->BacklashAmount=0;
ch0->BacklashRate=0;
ch0->invDistPerCycle=1;
ch0->Lead=0;
ch0->MaxFollowingError=1000000000;
ch0->StepperAmplitude=20;
ch0->iir[0].B0=1;
ch0->iir[0].B1=0;
ch0->iir[0].B2=0;
ch0->iir[0].A1=0;
ch0->iir[0].A2=0;
ch0->iir[1].B0=1;
ch0->iir[1].B1=0;
ch0->iir[1].B2=0;
ch0->iir[1].A1=0;
ch0->iir[1].A2=0;
ch0->iir[2].B0=0.000769;
ch0->iir[2].B1=0.001538;
ch0->iir[2].B2=0.000769;
ch0->iir[2].A1=1.92076;
ch0->iir[2].A2=-0.923833;
EnableAxisDest(0,0);
ch1->InputMode=NO_INPUT_MODE;
ch1->OutputMode=STEP_DIR_MODE;
ch1->Vel=6000;
ch1->Accel=27;
ch1->Jerk=100000;
ch1->P=0;
ch1->I=0.01;
ch1->D=0;
ch1->FFAccel=0;
ch1->FFVel=0;
ch1->MaxI=200;
ch1->MaxErr=1e+006;
ch1->MaxOutput=200;
ch1->DeadBandGain=1;
ch1->DeadBandRange=0;
ch1->InputChan0=1;
ch1->InputChan1=0;
ch1->OutputChan0=9;
ch1->OutputChan1=0;
ch1->MasterAxis=-1;
ch1->LimitSwitchOptions=0x100;
ch1->LimitSwitchNegBit=0;
ch1->LimitSwitchPosBit=0;
ch1->SoftLimitPos=1e+009;
ch1->SoftLimitNeg=-1e+009;
ch1->InputGain0=1;
ch1->InputGain1=1;
ch1->InputOffset0=0;
ch1->InputOffset1=0;
ch1->OutputGain=1;
ch1->OutputOffset=0;
ch1->SlaveGain=1;
ch1->BacklashMode=BACKLASH_OFF;
ch1->BacklashAmount=0;
ch1->BacklashRate=0;
ch1->invDistPerCycle=1;
ch1->Lead=0;
ch1->MaxFollowingError=1000000000;
ch1->StepperAmplitude=20;
ch1->iir[0].B0=1;
ch1->iir[0].B1=0;
ch1->iir[0].B2=0;
ch1->iir[0].A1=0;
ch1->iir[0].A2=0;
ch1->iir[1].B0=1;
ch1->iir[1].B1=0;
ch1->iir[1].B2=0;
ch1->iir[1].A1=0;
ch1->iir[1].A2=0;
ch1->iir[2].B0=0.000769;
ch1->iir[2].B1=0.001538;
ch1->iir[2].B2=0.000769;
ch1->iir[2].A1=1.92081;
ch1->iir[2].A2=-0.923885;
EnableAxisDest(1,0);
ch2->InputMode=NO_INPUT_MODE;
ch2->OutputMode=STEP_DIR_MODE;
ch2->Vel=4000;
ch2->Accel=400000;
ch2->Jerk=4e+006;
ch2->P=0;
ch2->I=0.01;
ch2->D=0;
ch2->FFAccel=0;
ch2->FFVel=0;
ch2->MaxI=200;
ch2->MaxErr=1e+006;
ch2->MaxOutput=200;
ch2->DeadBandGain=1;
ch2->DeadBandRange=0;
ch2->InputChan0=2;
ch2->InputChan1=0;
ch2->OutputChan0=10;
ch2->OutputChan1=0;
ch2->MasterAxis=-1;
ch2->LimitSwitchOptions=0x100;
ch2->LimitSwitchNegBit=0;
ch2->LimitSwitchPosBit=0;
ch2->SoftLimitPos=1e+009;
ch2->SoftLimitNeg=-1e+009;
ch2->InputGain0=1;
ch2->InputGain1=1;
ch2->InputOffset0=0;
ch2->InputOffset1=0;
ch2->OutputGain=1;
ch2->OutputOffset=0;
ch2->SlaveGain=1;
ch2->BacklashMode=BACKLASH_OFF;
ch2->BacklashAmount=0;
ch2->BacklashRate=0;
ch2->invDistPerCycle=1;
ch2->Lead=0;
ch2->MaxFollowingError=1000000000;
ch2->StepperAmplitude=20;
ch2->iir[0].B0=1;
ch2->iir[0].B1=0;
ch2->iir[0].B2=0;
ch2->iir[0].A1=0;
ch2->iir[0].A2=0;
ch2->iir[1].B0=1;
ch2->iir[1].B1=0;
ch2->iir[1].B2=0;
ch2->iir[1].A1=0;
ch2->iir[1].A2=0;
ch2->iir[2].B0=0.000769;
ch2->iir[2].B1=0.001538;
ch2->iir[2].B2=0.000769;
ch2->iir[2].A1=1.92081;
ch2->iir[2].A2=-0.923885;
EnableAxisDest(2,0);
DefineCoordSystem(0,1,2,-1);
SetBitDirection(45,1); // set Enable Signal as Output
SetBit(45); // Enable the amplifiers
// Add a small amount of Coordinated Motion Path smoothing if desired
Tau = 0.001; // seconds for Low Pass Filter Time Constant
KLP = exp(-TIMEBASE/Tau);
// KLP=0; // force to 0 to disable
// printf("Tau=%f KLP=%f\n",Tau,KLP);
return 0;
}